Faculty Profiles - HASEGAWA, Yasuhisa

Papers - HASEGAWA, Yasuhisa

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Electrical Impedance Spectroscopy for Detection of Cells in Suspensions Using Microfluidic Device with Integrated Microneedles Reviewed International coauthorship

Mansor Muhammad Asraf, Takeuchi Masaru, Nakajima Masahiro, Hasegawa Yasuhisa, Ahmad Mohd Ridzuan

APPLIED SCIENCES-BASEL Vol. 7 ( 2 ) 2017

Microfluidics for Mass Measurement of Miniature Object Like Single Cell and Single MicroParticle Reviewed

Rahman Md. Habibur, Ahmad Mohd Ridzuan, Takeuchi Masaru, Nakajima Masahiro, Hasegawa Yasuhisa, Fukuda Toshio

ADVANCED MECHATRONICS AND MEMS DEVICES II page： 523-545 2017

Preface to Special Issue on System Integration with Broader Perspectives : Exploring Frameworks for System Design to Offer Effective Solutions for Issues with Highly Sophisticated Systems Reviewed

HASEGAWA Yasuhisa, ARAI Fumihito, SEKIYAMA Kosuke, NAKAJIMA Masahiro, KAWABATA Kuniaki

Transactions of the Society of Instrument and Control Engineers Vol. 53 ( 1 ) page： 1 - 1 2017

Design of an wearable MRI-compatible hand exoskeleton robot Reviewed

Liu K., Hasegawa Y., Saotome K., Sainkai Y.

Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) Vol. 10462 LNAI page： 242 - 250 2017

Language：Japanese Publishing type：Research paper (scientific journal) Publisher：Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)

This paper proposes an wearable MRI-compatible hand exoskeleton robot that supports a subject moving his fingers voluntarily or involuntarily in high electromagnetic field. The hand robot consists of four exoskeletal fingers excluding a thumb, which is fabricated with nonmagnetic materials through 3D printing. In order to work in an MRI environment, pneumatic actuators are applied to drive the joints of the wearable robot. Potentiometers are installed in the MP and PIP joints of four fingers to measure the angles of finger’s motions. Basic performances of the robot are evaluated by flexion rang of fingers, time delay and fingertip force. In the future, the compatibility of robot in MRI environment will be confirmed through measurement experiments of a subject’s brain activity.

DOI： 10.1007/978-3-319-65289-4_23

Scopus

Nanotool feeding system for efficient nanomanipulation inside Electron Microscope

Nakajima M., Kei N., Takeuchi M., Hasegawa Y., Fukuda T., Huang Q.

16th International Conference on Nanotechnology - IEEE NANO 2016 page： 36 - 37 2016.11

Language：English Publishing type：Research paper (scientific journal) Publisher：16th International Conference on Nanotechnology - IEEE NANO 2016

Nanotool feeding system (NTFS) is presented for efficient nanomanipulation. We constructed a unique bio-nanomanipulation system inside an Environmental-SEM (E-SEM) using various nanotools, for example stiffness measurement nanotool, dual electrical nanoprobe, nanopicker, nanofork, nanocutter, nanoputter, and nanoinjector. For continues usage of different multiple tools, it needs to exchange the nanotools continuously. In this paper, the Rotary-table Nanotool Feeding System (R-NTFS) is proposed to realize continuous exchange of different multiple tools individually. An efficient continuous nanomanipulation was achieved by a short exchange time which was about 13 seconds. Finally, the multiple nanoinjection was demonstrated using the proposed R-NTFS.

DOI： 10.1109/NANO.2016.7751541

Scopus

Adaptive speed controller using swing leg motion for 3-D limit-cycle-based bipedal gait Reviewed International journal

Taisuke Kobayashi, Tadayoshi Aoyama, Yasuhisa Hasegawa, Kosuke Sekiyama, Toshio Fukuda

Nonlinear Dynamics Vol. 84 ( 4 ) page： 2285 - 2304 2016.6

Language：English Publishing type：Research paper (scientific journal)

© 2016, Springer Science+Business Media Dordrecht. In this paper, we propose an adaptive speed controller (ASC) for a limit-cycle-based gait classified as a three-dimensional (3-D) bipedal gait. The limit-cycle-based gait of bipedal robots is excellent for energy efficiency. However, the forward and sideward moving speeds of these robots are difficult to control since they are autonomous systems and their behavior depends upon the initial states of every step. Therefore, in this study, we design a swing leg motion to appropriately adjust the initial states of every step. First, the forward speed is controlled by injecting the momentum of the swing leg, which shifts an energy equilibrium point from the original point to the reference point where the reference forward speed is achieved. Second, the sideward speed is controlled by asymmetric touchdown positions on the right and the left legs, which separate the limit cycle into two different limit cycles for each leg, and this separation leads to the sideward motion. The proposed ASC can be easily applied to an arbitrary limit-cycle-based gait because it is independent of the dynamics of the gait model. The performance of the proposed ASC was validated in terms of the residual error, step response, and disturbance rejection capabilities in numerical simulations for two examples of walking. The proposed ASC also achieved a highly energy-efficient gait, which was consistent with the analytical results. Further, the proposed ASC could adapt a robot to various environments that contained up and down slopes or an obstacle.

DOI： 10.1007/s11071-016-2645-0

Web of Science

Scopus

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Shape-controlled high cell-density microcapsules by electrodeposition Reviewed

Z. Liu, M. Takeuchi, M. Nakajima, Y. Hasegawa, Q. Huang, T. Fukuda

Acta biomaterialia Vol. 37 page： 93-100 2016.6

Fall Detection and Prevention Control Using Walking-Aid Cane Robot Reviewed

P. Di, Y. Hasegawa, S. Nakagawa, K. Sekiyama, T. Fukuda, J. Huang

IEEE/ASME Transactions on Mechatronics Vol. 21 ( 2 ) page： 625-637 2016.4

Local guiding of C. elegans inside micro-channel for injection operation.

Yuki Ayamura, Masahiro Nakajima, Masaru Takeuchi, Naoki Hisamoto, Strahil Pastuhov, Yasuhisa Hasegawa, Toshio Fukuda

page： 952 - 955 2016.2

Adaptive speed controller using swing leg motion for 3-D limit-cycle-based bipedal gait Reviewed

T. Kobayashi, T. Aoyama, Y. Hasegawa, K. Sekiyama, T. Fukuda

Nonlinear Dynamics Vol. 84 ( 4 ) page： 2285-2304 2016.2

Muscle activity during gait-like motion provided by MRI compatible lower-extremity motion simulator Reviewed

Takahiro Ikeda, Akira Matsushita, Kousaku Saotome, Yasuhisa Hasegawa, Akira Matsumura, Yoshiyuki Sankai

Advanced Robotics Vol. 30 ( 7 ) page： 459-475 2016.2

Batch Fabrication of Microscale Gear-Like Tissue by Alginate-Poly-L-lysine (PLL) Microcapsules System Reviewed

Zeyang Liu, Masaru Takeuchi, Masahiro Nakajima, Toshio Fukuda, Yasuhisa Hasegawa, Qiang Huang

IEEE Robotics and Automation Letters Vol. 1 ( 1 ) page： 206-212 2016.1

Batch Fabrication of Microscale Gear-Like Tissue by Alginate-Poly-L-lysine (PLL) Microcapsules System Reviewed

Zeyang Liu, Masaru Takeuchi, Masahiro Nakajima, Toshio Fukuda, Yasuhisa Hasegawa, Qiang Huang

IEEE Robotics and Automation Letters Vol. 1 ( 1 ) page： 206 - 212 2016.1

Language：English Publishing type：Research paper (scientific journal) Publisher：Institute of Electrical and Electronics Engineers Inc.

© 2016 IEEE. Constructing 3D cell module with certain shape and high cell density is a very important issue for artificial tissue engineering. In this letter, we present a novel method of fabricating compact microtissue with gear-like shape by electrodepositing of Ca 2+ induced cross-linked alginate hydrogel. The fabrication procedure is demonstrated and the fabricated gear-like tissues are characterized. Briefly, an array of gear-shaped microelectrodes are first fabricated by coating a patterned photoresist layer onto fluorine-doped tin oxide (FTO) glass slide based on photolithography technique. Then, Ca-alginate gel structures embedded with RLC-18 (rat liver) cells are electrodeposited onto the microelectrodes. These 2D cell-laden gel structures are then manually detached from the microelectrodes and treated with special reagent to be transformed into 3D alginate-Poly-L-lysine (PLL) microcapsules while maintaining the gear shape. Finally, the RLC-18 cells within the microcapsules are further promoted into compact microtissues by cultivation. The size of the fabricated gear-like tissue is about 975±25 μm in outer diameter and 320±10 μm in inner diameter based on the design of microelectrodes. 3-D images of the fabricated microtissues are obtained by a confocal microscope. The experimental results indicate the proposed method can successfully fabricate movable microtissues with predefined gear shape while maintaining the viability (∼94%). We believe the fabricated movable gear-like microtissues can be further assembled and applied to tissue engineering.

DOI： 10.1109/LRA.2016.2514500

Scopus

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A Microfluidic Device for Hydrodynamic Trapping and Manipulation Platform of a Single Biological Cell Reviewed

Amelia Ahmad Khalili, Mohd Ridzuan Ahmad, Masaru Takeuchi, Masahiro Nakajima, Yasuhisa Hasegawa, Razauden Mohamed Zulkifli

Applied Sciences Vol. 6 ( 2 ) page： 1-17 2016

Selection of two arm-swing strategies for bipedal walking to enhance both stability and efficiency Reviewed

Taisuke Kobayashi, Kosuke Sekiyama, Tadayoshi Aoyama, Yasuhisa Hasegawa, Toshio Fukuda

Advanced Robotics Vol. 30 ( 6 ) page： 386-401 2016

Vision-Based Mowing Boundary Detection Algorithm for an Autonomous Lawn Mower Open Access

Fukukawa Tomoya, Sekiyama Kosuke, Hasegawa Yasuhisa, Fukuda Toshio

Journal of Advanced Computational Intelligence and Intelligent Informatics Vol. 20 ( 1 ) page： 49 - 56 2016

Language：English Publishing type：Research paper (scientific journal) Publisher：Fuji Technology Press Ltd.

<p>This study proposes a vision-based mowing boundary detection algorithm for an autonomous lawn mower. An autonomous lawn mower requires high moving accuracy for efficient mowing. This problem is solved by using a vision system to detect the boundary of two regions, i.e., before and after the lawn mowing process. The mowing boundary cannot be detected directly because it is ambiguous. Therefore, we utilize a texture classification method with a bank of filters for classifying the input image of the lawn field into two regions as mentioned above. The classification is performed by threshold processing based on a chi-squared statistic. Then, the boundary line is detected from the classified regions by using Random sample consensus (RANSAC). Finally, we apply the proposed method to 12 images of the lawn field and verified that the proposed method can detect a mowing boundary line with centimeter accuracy in a dense lawn field.</p>

DOI： 10.20965/jaciii.2016.p0049

Single Cell Mass Measurement Using Drag Force Inside Lab-on-Chip Microfluidics System Reviewed

Md. Habibur Rahman, Mohd Ridzuan Ahmad, Masaru Takeuchi, Masahiro Nakajima, Yasuhisa Hasegawa, Toshio Fukuda

IEEE Transactions on NanoBioscience Vol. 14 ( 8 ) page： 927-934 2015.12

SALを用いた腕振り戦略による2足歩行の安定化及び効率向上 Reviewed

小林泰介, 関山浩介, 青山忠義, 長谷川泰久, 福田敏男

日本機械学会論文集(Ｃ編) 2015.7

Tandem stance avoidance using adaptive and asymmetric admittance control for fall prevention Reviewed

Shotaro Nakagawa, Yasuhisa Hasegawa, Toshio Fukuda, Izumi Kondo, Masahiro Tanimoto, Pei Di, Jian Huang, Qiang Huang

IEEE Transactions on Neural Systems and Rehabilitation Engineering Vol. 24 ( 5 ) page： 542-550 2015.5

MRI適合性を有する下肢動作提示システムLoMS Reviewed

池田貴公、松下明、五月女康作、長谷川泰久、松村明、山海嘉之

日本ロボット学会誌　 Vol. 33 ( 2 ) page： 115-123 2015.3

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Papers - HASEGAWA, Yasuhisa